{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Importing Important Libraries"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import math\n",
    "import sympy  as sp\n",
    "from sympy.matrices import Matrix\n",
    "from functools import partial\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "from mpl_toolkits import mplot3d\n",
    "from math import pi\n",
    "import pprint\n",
    "pp=pprint.PrettyPrinter(indent=5)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Declaring Variables\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "theta_i, alpha_i, d_i, a_i, A_i, a_3, d_1, d_3, d_5, d_7 = sp.symbols('theta_i alpha_i d_i a_i A_i a_3 d_1, d_3, d_5, d_7')\n",
    "theta_1,theta_2,theta_3,theta_4,theta_5,theta_6,theta_7 = sp.symbols ('theta_1,theta_2, theta_3, theta_4, theta_5, theta_6, theta_7')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Rotation and Translation Matrices\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "Rotation Matrix for rotation about Z\n",
      "Matrix([\n",
      "[cos(theta_i), -sin(theta_i), 0, 0],\n",
      "[sin(theta_i),  cos(theta_i), 0, 0],\n",
      "[           0,             0, 1, 0],\n",
      "[           0,             0, 0, 1]])\n",
      "\n",
      "Rotation Matrix for rotation about X\n",
      "Matrix([\n",
      "[1,            0,             0, 0],\n",
      "[0, cos(alpha_i), -sin(alpha_i), 0],\n",
      "[0, sin(alpha_i),  cos(alpha_i), 0],\n",
      "[0,            0,             0, 1]])\n",
      "\n",
      "Translation Matrix for translation about Z\n",
      "Matrix([\n",
      "[1, 0, 0,   0],\n",
      "[0, 1, 0,   0],\n",
      "[0, 0, 1, d_i],\n",
      "[0, 0, 0,   1]])\n",
      "\n",
      "Translation Matrix for translation about X\n",
      "Matrix([\n",
      "[1, 0, 0, a_i],\n",
      "[0, 1, 0,   0],\n",
      "[0, 0, 1,   0],\n",
      "[0, 0, 0,   1]])\n"
     ]
    }
   ],
   "source": [
    "Rot_z = sp.Matrix([ [sp.cos(theta_i), -sp.sin(theta_i),0,0], [sp.sin(theta_i),sp.cos(theta_i),0,0], [0,0,1,0], [0,0,0,1] ]);\n",
    "Rot_x = sp.Matrix([ [1,0,0,0], [0,sp.cos(alpha_i), -sp.sin(alpha_i),0], [0, sp.sin(alpha_i), sp.cos(alpha_i), 0], [0,0,0,1] ]); \n",
    "Tran_z = sp.Matrix([[1,0,0,0], [0,1,0,0], [0,0,1,d_i], [0,0,0,1]]);\n",
    "Tran_x = sp.Matrix([[1,0,0,a_i], [0,1,0,0], [0,0,1,0], [0,0,0,1]]);\n",
    "print(\"\\nRotation Matrix for rotation about Z\")\n",
    "pp.pprint(Rot_z)\n",
    "print(\"\\nRotation Matrix for rotation about X\")\n",
    "pp.pprint(Rot_x)\n",
    "print(\"\\nTranslation Matrix for translation about Z\")\n",
    "pp.pprint(Tran_z)\n",
    "print(\"\\nTranslation Matrix for translation about X\")\n",
    "pp.pprint(Tran_x)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### General Homogeneous Matrix"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Matrix([\n",
      "[cos(theta_i), -sin(theta_i)*cos(alpha_i),  sin(alpha_i)*sin(theta_i), a_i*cos(theta_i)],\n",
      "[sin(theta_i),  cos(alpha_i)*cos(theta_i), -sin(alpha_i)*cos(theta_i), a_i*sin(theta_i)],\n",
      "[           0,               sin(alpha_i),               cos(alpha_i),              d_i],\n",
      "[           0,                          0,                          0,                1]])\n"
     ]
    }
   ],
   "source": [
    "A_i=Rot_z*Tran_z*Tran_x*Rot_x;\n",
    "pp.pprint(A_i)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### DH Parameter Table for Fixed $\\theta_3$"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "| Link | $a_i$ | $\\theta_i$ | $\\alpha_i$ | $d_i$ |\n",
    "| --- | --- | --- | --- | --- |\n",
    "| 1 | 0 | $\\theta_1^*$ | 90 | $d_1$ |\n",
    "| 2 | 0 | $\\theta_2^*$ | -90 | 0 |\n",
    "| 3 | $a_3$ | 0 | -90 | $d_3$ |\n",
    "| 4 | $-a_3$ | $\\theta_4^*$ | 90 | 0 |\n",
    "| 5 | 0 | $\\theta_5^*$ | 90 | $d_5$ |\n",
    "| 6 | $a_3$ | $\\theta_6^*$ | -90 | 0 |\n",
    "| 7 | 0 | $\\theta_7^*$ | 0 | $-d_7$ |"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.12323399573677 \\cdot 10^{-17} & -6.12323399573677 \\cdot 10^{-17} & 1.0 & 0\\\\1.0 & 3.74939945665464 \\cdot 10^{-33} & -6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 1.0 & 6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[6.12323399573677e-17, -6.12323399573677e-17,                   1.0, 0],\n",
       "[                 1.0,  3.74939945665464e-33, -6.12323399573677e-17, 0],\n",
       "[                   0,                   1.0,  6.12323399573677e-17, 0],\n",
       "[                   0,                     0,                     0, 1]])"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad0=A_i.subs([(theta_i,math.radians(90)),(alpha_i,math.radians(90)),(a_i,0),(d_i,0)])\n",
    "Ad0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{1} \\right)} & - \\sin{\\left(\\theta_{1} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{1} \\right)} & \\cos{\\left(\\theta_{1} \\right)} & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_1), -sin(theta_1), 0, 0],\n",
       "[sin(theta_1),  cos(theta_1), 0, 0],\n",
       "[           0,             0, 1, 0],\n",
       "[           0,             0, 0, 1]])"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A1=A_i.subs([(theta_i,theta_1),(alpha_i,math.radians(0)),(a_i,0),(d_i,0)])\n",
    "A1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17} & -1.0 & 0\\\\-1.0 & 3.74939945665464 \\cdot 10^{-33} & -6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 1.0 & 6.12323399573677 \\cdot 10^{-17} & 64.85\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[6.12323399573677e-17, 6.12323399573677e-17,                  -1.0,     0],\n",
       "[                -1.0, 3.74939945665464e-33, -6.12323399573677e-17,     0],\n",
       "[                   0,                  1.0,  6.12323399573677e-17, 64.85],\n",
       "[                   0,                    0,                     0,     1]])"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad1=A_i.subs([(theta_i,math.radians(-90)),(alpha_i,math.radians(90)),(a_i,0),(d_i,64.85)])\n",
    "Ad1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{2} \\right)} & - \\sin{\\left(\\theta_{2} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{2} \\right)} & \\cos{\\left(\\theta_{2} \\right)} & 0 & 0\\\\0 & 0 & 1 & -140\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_2), -sin(theta_2), 0,    0],\n",
       "[sin(theta_2),  cos(theta_2), 0,    0],\n",
       "[           0,             0, 1, -140],\n",
       "[           0,             0, 0,    1]])"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A2=A_i.subs([(theta_i,theta_2),(alpha_i,math.radians(0)),(a_i,0),(d_i,-140)])\n",
    "A2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}1 & 0 & 0 & 500\\\\0 & 1 & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[1, 0, 0, 500],\n",
       "[0, 1, 0,   0],\n",
       "[0, 0, 1,   0],\n",
       "[0, 0, 0,   1]])"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad2=A_i.subs([(theta_i,math.radians(0)),(alpha_i,math.radians(0)),(a_i,500),(d_i,0)])\n",
    "Ad2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A3"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{3} \\right)} & - \\sin{\\left(\\theta_{3} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{3} \\right)} & \\cos{\\left(\\theta_{3} \\right)} & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_3), -sin(theta_3), 0, 0],\n",
       "[sin(theta_3),  cos(theta_3), 0, 0],\n",
       "[           0,             0, 1, 0],\n",
       "[           0,             0, 0, 1]])"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A3=A_i.subs([(theta_i,theta_3),(alpha_i,math.radians(0)),(a_i,0),(d_i,0)])\n",
    "A3"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A4"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}1 & 0 & 0 & 450\\\\0 & 1 & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[1, 0, 0, 450],\n",
       "[0, 1, 0,   0],\n",
       "[0, 0, 1,   0],\n",
       "[0, 0, 0,   1]])"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A4=A_i.subs([(theta_i,0),(alpha_i,math.radians(0)),(a_i,450),(d_i,0)])\n",
    "A4"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Steps to Get the Jacobian Matrix usinh Method 2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Transformation Matrix  $T_e^0$ from $O_0$ to $O_e$"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Transformation Matrix with joint angle set to required position\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}0 & 1.0 & 0 & -288.703390593274\\\\6.12323399573677 \\cdot 10^{-17} & 0 & -1.0 & 140.0\\\\-1.0 & 0 & -6.12323399573677 \\cdot 10^{-17} & -803.553390593274\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[                   0, 1.0,                     0, -288.703390593274],\n",
       "[6.12323399573677e-17,   0,                  -1.0,             140.0],\n",
       "[                -1.0,   0, -6.12323399573677e-17, -803.553390593274],\n",
       "[                   0,   0,                     0,                 1]])"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "T1=Ad0*A1\n",
    "T2=Ad0*A1*Ad1*A2\n",
    "T3=Ad0*A1*Ad1*A2*Ad2*A3\n",
    "T4=Ad0*A1*Ad1*A2*Ad2*A3*A4\n",
    "T = T4.subs([(theta_1,math.radians(0)),(theta_2,math.radians(-45)),(theta_3,math.radians(45))])\n",
    "print(\"Transformation Matrix with joint angle set to required position\")\n",
    "T\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Calculating the Z vector for all links"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z0 matrix is given:\n",
      "Matrix([\n",
      "[                  1.0],\n",
      "[-6.12323399573677e-17],\n",
      "[ 6.12323399573677e-17]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z0 matrix is given:\")\n",
    "Z0 = T1[:3,2]\n",
    "pp.pprint(Z0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z1 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                -1.0*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z1 matrix is given:\")\n",
    "Z1 = T2[:3,2]\n",
    "pp.pprint(Z1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z2 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                -1.0*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z2 matrix is given:\")\n",
    "Z2 = T3[:3,2]\n",
    "pp.pprint(Z2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z4 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                -1.0*sin(theta_1) - 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z4 matrix is given:\")\n",
    "Z3 = T4[:3,2]\n",
    "pp.pprint(Z3)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Forming the columns $J_1$ to $J_6$ of the Jacobian Matrix"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The initial jacobian matrix for home position is given by:\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}4.95981953654678 \\cdot 10^{-14} & 950.0 & 450.0\\\\950.0 & 0 & 0\\\\140.0 & 5.81707229594993 \\cdot 10^{-14} & 2.75545529808154 \\cdot 10^{-14}\\\\1.0 & 0 & 0\\\\-6.12323399573677 \\cdot 10^{-17} & -1.0 & -1.0\\\\6.12323399573677 \\cdot 10^{-17} & -6.12323399573677 \\cdot 10^{-17} & -6.12323399573677 \\cdot 10^{-17}\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[ 4.95981953654678e-14,                 950.0,                 450.0],\n",
       "[                950.0,                     0,                     0],\n",
       "[                140.0,  5.81707229594993e-14,  2.75545529808154e-14],\n",
       "[                  1.0,                     0,                     0],\n",
       "[-6.12323399573677e-17,                  -1.0,                  -1.0],\n",
       "[ 6.12323399573677e-17, -6.12323399573677e-17, -6.12323399573677e-17]])"
      ]
     },
     "execution_count": 17,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Xp=T4[:3,3]\n",
    "diff_thet_1 = Xp.diff(theta_1) #Partially differentiating Xp wrt θ1\n",
    "\n",
    "diff_thet_2 = Xp.diff(theta_2) #Partially differentiating Xp wrt θ2\n",
    "\n",
    "diff_thet_3 = Xp.diff(theta_3) #Partially differentiating Xp wrt θ4\n",
    "\n",
    "\n",
    "print(\"The initial jacobian matrix for home position is given by:\")\n",
    "J = Matrix([[diff_thet_1[0],diff_thet_2[0],diff_thet_3[0]],\n",
    "          [diff_thet_1[1],diff_thet_2[1],diff_thet_3[1]],\n",
    "          [diff_thet_1[2],diff_thet_2[2],diff_thet_3[2]],\n",
    "          [Z0[0],Z1[0],Z2[0]],[Z0[1],Z1[1],Z2[1]],[Z0[2],Z1[2],Z2[2]]])\n",
    "\n",
    "J1=J.subs([(theta_1,0),(theta_2,0),(theta_3,0)])\n",
    "J1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Circle equations"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### The equation of ciecle is given by\n",
    "$y^2+(z-72.5)^2=100$  \n",
    "Using the polar form  \n",
    "$y=r\\cos(\\theta),z=r\\sin(\\theta)$  \n",
    "Therefore,  \n",
    "$\\dot{y}=r\\cos(\\theta)\\dot{\\theta}$  \n",
    "$\\dot{z}=r\\sin(\\theta)\\dot{\\theta}$\n",
    "\n",
    "Also, $\\dot{\\theta}=\\frac{2\\pi}{5}$"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}0.717356090899523 & 0.696706709347165 & 0 & 65.5513972859398\\\\4.26609820773246 \\cdot 10^{-17} & -4.39253920284479 \\cdot 10^{-17} & -1.0 & 140.0\\\\-0.696706709347165 & 0.717356090899523 & -6.12323399573677 \\cdot 10^{-17} & -695.939112848469\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[   0.717356090899523,     0.696706709347165,                     0,  65.5513972859398],\n",
       "[4.26609820773246e-17, -4.39253920284479e-17,                  -1.0,             140.0],\n",
       "[  -0.696706709347165,     0.717356090899523, -6.12323399573677e-17, -695.939112848469],\n",
       "[                   0,                     0,                     0,                 1]])"
      ]
     },
     "execution_count": 18,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "T=T4\n",
    "T_eval=T.subs([(theta_1,0),(theta_2,-0.7),(theta_3,1.5)])\n",
    "# T_eval.simplify()\n",
    "T_eval"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Using the above equations and the Jacobian matrix we compute the tool positions over a time period using Numerical Integration"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Computing Trajectory\n",
      "0.0,-0.7,1.5  65.5513972859398,-695.939112848469\n",
      ".2.63651055134617E-9,-0.704388528480752,1.50974151642953  65.5498637781909,-692.789367715781\n",
      ".5.35502224256503E-9,-0.708605271463034,1.51942761882744  65.6465572711510,-689.641296779110\n",
      ".8.15584629077804E-9,-0.712644586503961,1.52904979081417  65.8413778310900,-686.497997566676\n",
      ".1.10392387003509E-8,-0.716500983081226,1.53859955836437  66.1341301051351,-683.362562338839\n",
      ".1.40053886196557E-8,-0.720169132885286,1.54806849135848  66.5245235820032,-680.238075058953\n",
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      ".7.48205357316670E-8,-0.519621804268927,1.48009163266141  185.331471828957,-691.914276802184\n",
      ".7.35653986497254E-8,-0.522913179455053,1.48116701222753  183.331916718872,-691.911289253328\n",
      ".7.23056646548184E-8,-0.526199125830753,1.48222444184473  181.332356061240,-691.908304648449\n",
      ".7.10413909387734E-8,-0.529479608338344,1.48326392781207  179.332789777605,-691.905322942751\n",
      ".6.97726347173242E-8,-0.532754591543958,1.48428547621948  177.333217790442,-691.902344091284\n",
      ".6.84994532259372E-8,-0.536024039642644,1.48528909295306  175.333640023169,-691.899368048936\n",
      ".6.72219037150408E-8,-0.539287916463491,1.48627478370029  173.334056400151,-691.896394770436\n",
      ".6.59400434459594E-8,-0.542546185474748,1.48724255395510  171.334466846713,-691.893424210346\n",
      ".6.46539296858725E-8,-0.545798809788966,1.48819240902292  169.334871289145,-691.890456323062\n",
      ".6.33636197028266E-8,-0.549045752168139,1.48912435402552  167.335269654713,-691.887491062807\n",
      ".6.20691707619953E-8,-0.552286975028858,1.49003839390587  165.335661871667,-691.884528383637\n",
      ".6.07706401194447E-8,-0.555522440447478,1.49093453343279  163.336047869245,-691.881568239427\n",
      ".5.94680850183933E-8,-0.558752110165290,1.49181277720558  161.336427577689,-691.878610583880\n",
      ".5.81615626825438E-8,-0.561975945593701,1.49267312965850  159.336800928248,-691.875655370521\n",
      ".5.68511303121261E-8,-0.565193907819431,1.49351559506522  157.337167853188,-691.872702552692\n",
      ".5.55368450778797E-8,-0.568405957609705,1.49434017754310  155.337528285801,-691.869752083557\n",
      ".5.42187641157953E-8,-0.571612055417473,1.49514688105740  153.337882160414,-691.866803916097\n",
      ".5.28969445220193E-8,-0.574812161386618,1.49593570942543  151.338229412393,-691.863858003109\n",
      ".5.15714433468364E-8,-0.578006235357186,1.49670666632055  149.338569978157,-691.860914297206\n",
      ".5.02423175888148E-8,-0.581194236870622,1.49745975527614  147.338903795183,-691.857972750818\n",
      ".4.89096241898189E-8,-0.584376125175005,1.49819497968940  145.339230802015,-691.855033316188\n",
      ".4.75734200286125E-8,-0.587551859230303,1.49891234282511  143.339550938272,-691.852095945373\n",
      ".4.62337619151126E-8,-0.590721397713624,1.49961184781931  141.339864144656,-691.849160590246\n",
      ".4.48907065843180E-8,-0.593884699024477,1.50029349768281  139.340170362960,-691.846227202493\n",
      ".4.35443106904541E-8,-0.597041721290042,1.50095729530472  137.340469536077,-691.843295733615\n",
      ".4.21946308012273E-8,-0.600192422370443,1.50160324345578  135.340761608006,-691.840366134927\n",
      ".4.08417233909939E-8,-0.603336759864022,1.50223134479170  133.341046523861,-691.837438357560\n",
      ".3.94856448346892E-8,-0.606474691112623,1.50284160185629  131.341324229878,-691.834512352460\n",
      ".3.81264514022973E-8,-0.609606173206877,1.50343401708464  129.341594673425,-691.831588070390\n",
      ".3.67641992521298E-8,-0.612731162991493,1.50400859280608  127.341857803005,-691.828665461931\n",
      ".3.53989444236697E-8,-0.615849617070545,1.50456533124715  125.342113568268,-691.825744477482\n",
      ".3.40307428322587E-8,-0.618961491812766,1.50510423453443  123.342361920015,-691.822825067261\n",
      ".3.26596502622671E-8,-0.622066743356845,1.50562530469725  121.342602810207,-691.819907181308\n",
      ".3.12857223605882E-8,-0.625165327616717,1.50612854367041  119.342836191970,-691.816990769486\n",
      ".2.99090146299164E-8,-0.628257200286862,1.50661395329672  117.343062019607,-691.814075781482\n",
      ".2.85295824227842E-8,-0.631342316847592,1.50708153532949  115.343280248599,-691.811162166807\n",
      ".2.71474809342979E-8,-0.634420632570346,1.50753129143493  113.343490835613,-691.808249874802\n",
      ".2.57627651957408E-8,-0.637492102522978,1.50796322319446  111.343693738513,-691.805338854638\n",
      ".2.43754900676345E-8,-0.640556681575042,1.50837733210692  109.343888916359,-691.802429055317\n",
      ".2.29857102339923E-8,-0.643614324403070,1.50877361959072  107.344076329421,-691.799520425674\n",
      ".2.15934801944049E-8,-0.646664985495851,1.50915208698586  105.344255939180,-691.796612914382\n",
      ".2.01988542580769E-8,-0.649708619159696,1.50951273555592  103.344427708336,-691.793706469953\n",
      ".1.88018865368882E-8,-0.652745179523704,1.50985556648992  101.344591600813,-691.790801040740\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      ".1.74026309384552E-8,-0.655774620545013,1.51018058090409  99.3447475817659,-691.787896574941\n",
      ".1.60011411596250E-8,-0.658796896014047,1.51048777984360  97.3448956175846,-691.784993020599\n",
      ".1.45974706796457E-8,-0.661811959559748,1.51077716428414  95.3450356759007,-691.782090325609\n",
      ".1.31916727530100E-8,-0.664819764654805,1.51104873513345  93.3451677255923,-691.779188437719\n",
      ".1.17838004031673E-8,-0.667820264620863,1.51130249323280  91.3452917367889,-691.776287304531\n",
      ".1.03739064153677E-8,-0.670813412633723,1.51153843935827  89.3454076808765,-691.773386873507\n",
      ".8.96204333004861E-9,-0.673799161728527,1.51175657422210  87.3455155305022,-691.770487091971\n",
      ".7.54826343600384E-9,-0.676777464804929,1.51195689847379  85.3456152595788,-691.767587907113\n",
      ".6.13261876344518E-9,-0.679748274632250,1.51213941270125  83.3457068432894,-691.764689265993\n",
      ".4.71516107728008E-9,-0.682711543854612,1.51230411743180  81.3457902580915,-691.761791115540\n",
      ".3.29594187049812E-9,-0.685667224996061,1.51245101313307  79.3458654817207,-691.758893402564\n",
      ".1.87501235723204E-9,-0.688615270465662,1.51258010021384  77.3459324931949,-691.755996073751\n",
      ".4.52423465927343E-10,-0.691555632562579,1.51269137902484  75.3459912728183,-691.753099075671\n",
      ".-9.71774167162976E-10,-0.694488263481135,1.51278484985935  73.3460418021839,-691.750202354781\n",
      ".-2.39753020480887E-9,-0.697413115315842,1.51286051295380  71.3460840641778,-691.747305857430\n",
      ".-3.82479461541689E-9,-0.700330140066414,1.51291836848829  69.3461180429818,-691.744409529861\n",
      ".-5.25351767986064E-9,-0.703239289642750,1.51295841658698  67.3461437240762,-691.741513318214\n",
      ".-6.68364999809445E-9,-0.706140515869895,1.51298065731841  65.3461610942429,-691.738617168534\n",
      "."
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "import sympy as sp\n",
    "x,y,z,r,o=sp.symbols(\"x y z r theta\")\n",
    "dt=0.05  #Time difference\n",
    "t_1=[math.radians(0)]  #Theta 1\n",
    "t_2=[-0.7]  #Theta 2\n",
    "t_3=[1.5]  #Theta 4\n",
    "back_left_joint=[]\n",
    "\n",
    "T=T4\n",
    "x_tool=[]\n",
    "y_tool=[]\n",
    "z_tool=[]\n",
    "#Tool Velocity Matrix\n",
    "X=sp.Matrix([[100*sp.sin((2*np.pi*o)/200)*(2*np.pi)/10],[0],[100*sp.cos((2*np.pi*o)/200)*(2*np.pi)/10],[0],[0],[0]])\n",
    "X1=sp.Matrix([[-40],[0],[0],[0],[0],[0]])\n",
    "i=0\n",
    "j=0\n",
    "print(\"Computing Trajectory\")\n",
    "while i<=200:\n",
    "    if i<100:\n",
    "        X_eval=X.subs(o,i)\n",
    "    if i>=100:\n",
    "        X_eval=X1.subs(o,j)\n",
    "        j+=1\n",
    "    back_left_joint.append((t_1[i],t_2[i],t_3[i]))\n",
    "    T_eval=T.subs([(theta_1,t_1[i]),(theta_2,t_2[i]),(theta_3,t_3[i])])\n",
    "    print(f\"{t_1[i]},{t_2[i]},{t_3[i]}  {T_eval[3]},{T_eval[11]}\")\n",
    "    x_tool.append(T_eval[3])\n",
    "    y_tool.append(T_eval[7])\n",
    "    z_tool.append(T_eval[11])\n",
    "    J_eval=J.subs([(theta_1,t_1[i]),(theta_2,t_2[i]),(theta_3,t_3[i])])\n",
    "    q=J_eval.pinv()*X_eval\n",
    "    q=q*dt\n",
    "#     print(q)\n",
    "    t_1.append(q[0]+t_1[i])\n",
    "    t_2.append(q[1]+t_2[i])\n",
    "    t_3.append(q[2]+t_3[i])\n",
    "    \n",
    "    print(\".\",end=\"\")\n",
    "    i=i+1\n",
    "\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Plotting trajectory in 2D Space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "plt.plot(x_tool,z_tool)\n",
    "# plt.scatter(0,0.725)\n",
    "plt.xlabel(\"x coordinate\")\n",
    "plt.ylabel(\"z coordinate\")\n",
    "plt.axis(\"equal\")\n",
    "plt.title(\"Trajectory of Robot\")\n",
    "plt.grid(True)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Plotting Trajectory in 3D Space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1000x1000 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax = plt.figure(figsize=(10,10)).add_subplot(projection='3d')\n",
    "# ax.axes.set_xlim3d(left=0.65, right=0.7) \n",
    "# ax.axes.set_ylim3d(bottom=-0.15, top=0.15) \n",
    "# ax.axes.set_zlim3d(bottom=0.625, top=0.825) \n",
    "ax.set_xlabel('$X$', fontsize=12)\n",
    "ax.set_ylabel('$Y$', fontsize=12)\n",
    "ax.set_zlabel('$Z$', fontsize=12)\n",
    "# ax.set_zticks(np.linspace(0.625,0.825,5).round(3))\n",
    "# ax.set_xticks(np.linspace(0.65,0.7,20).round(2))\n",
    "# ax.set_yticks(np.linspace(-0.15,0.15,5).round(2))\n",
    "ax.plot(x_tool, y_tool, z_tool, label='Tool Trajectory')\n",
    "ax.plot(np.full(len(y_tool),0.65), y_tool, z_tool, label='Projection of Circle on X Plane')\n",
    "ax.legend()\n",
    "\n",
    "plt.show()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       " (-6.68364999809445e-9, -0.706140515869895, 1.51298065731841)]"
      ]
     },
     "execution_count": 22,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "back_left_joint"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(0.0, -0.7, 1.5) 65.5513972859398 -695.939112848469\n",
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    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "(6.33636197028266e-8, -0.549045752168139, 1.48912435402552) 167.335269654713 -691.887491062807\n",
      "(6.20691707619953e-8, -0.552286975028858, 1.49003839390587) 165.335661871667 -691.884528383637\n",
      "(6.07706401194447e-8, -0.555522440447478, 1.49093453343279) 163.336047869245 -691.881568239427\n",
      "(5.94680850183933e-8, -0.558752110165290, 1.49181277720558) 161.336427577689 -691.878610583880\n",
      "(5.81615626825438e-8, -0.561975945593701, 1.49267312965850) 159.336800928248 -691.875655370521\n",
      "(5.68511303121261e-8, -0.565193907819431, 1.49351559506522) 157.337167853188 -691.872702552692\n",
      "(5.55368450778797e-8, -0.568405957609705, 1.49434017754310) 155.337528285801 -691.869752083557\n",
      "(5.42187641157953e-8, -0.571612055417473, 1.49514688105740) 153.337882160414 -691.866803916097\n",
      "(5.28969445220193e-8, -0.574812161386618, 1.49593570942543) 151.338229412393 -691.863858003109\n",
      "(5.15714433468364e-8, -0.578006235357186, 1.49670666632055) 149.338569978157 -691.860914297206\n",
      "(5.02423175888148e-8, -0.581194236870622, 1.49745975527614) 147.338903795183 -691.857972750818\n",
      "(4.89096241898189e-8, -0.584376125175005, 1.49819497968940) 145.339230802015 -691.855033316188\n",
      "(4.75734200286125e-8, -0.587551859230303, 1.49891234282511) 143.339550938272 -691.852095945373\n",
      "(4.62337619151126e-8, -0.590721397713624, 1.49961184781931) 141.339864144656 -691.849160590246\n",
      "(4.48907065843180e-8, -0.593884699024477, 1.50029349768281) 139.340170362960 -691.846227202493\n",
      "(4.35443106904541e-8, -0.597041721290042, 1.50095729530472) 137.340469536077 -691.843295733615\n",
      "(4.21946308012273e-8, -0.600192422370443, 1.50160324345578) 135.340761608006 -691.840366134927\n",
      "(4.08417233909939e-8, -0.603336759864022, 1.50223134479170) 133.341046523861 -691.837438357560\n",
      "(3.94856448346892e-8, -0.606474691112623, 1.50284160185629) 131.341324229878 -691.834512352460\n",
      "(3.81264514022973e-8, -0.609606173206877, 1.50343401708464) 129.341594673425 -691.831588070390\n",
      "(3.67641992521298e-8, -0.612731162991493, 1.50400859280608) 127.341857803005 -691.828665461931\n",
      "(3.53989444236697e-8, -0.615849617070545, 1.50456533124715) 125.342113568268 -691.825744477482\n",
      "(3.40307428322587e-8, -0.618961491812766, 1.50510423453443) 123.342361920015 -691.822825067261\n",
      "(3.26596502622671e-8, -0.622066743356845, 1.50562530469725) 121.342602810207 -691.819907181308\n",
      "(3.12857223605882e-8, -0.625165327616717, 1.50612854367041) 119.342836191970 -691.816990769486\n",
      "(2.99090146299164e-8, -0.628257200286862, 1.50661395329672) 117.343062019607 -691.814075781482\n",
      "(2.85295824227842e-8, -0.631342316847592, 1.50708153532949) 115.343280248599 -691.811162166807\n",
      "(2.71474809342979e-8, -0.634420632570346, 1.50753129143493) 113.343490835613 -691.808249874802\n",
      "(2.57627651957408e-8, -0.637492102522978, 1.50796322319446) 111.343693738513 -691.805338854638\n",
      "(2.43754900676345e-8, -0.640556681575042, 1.50837733210692) 109.343888916359 -691.802429055317\n",
      "(2.29857102339923e-8, -0.643614324403070, 1.50877361959072) 107.344076329421 -691.799520425674\n",
      "(2.15934801944049e-8, -0.646664985495851, 1.50915208698586) 105.344255939180 -691.796612914382\n",
      "(2.01988542580769e-8, -0.649708619159696, 1.50951273555592) 103.344427708336 -691.793706469953\n",
      "(1.88018865368882e-8, -0.652745179523704, 1.50985556648992) 101.344591600813 -691.790801040740\n",
      "(1.74026309384552e-8, -0.655774620545013, 1.51018058090409) 99.3447475817659 -691.787896574941\n",
      "(1.60011411596250e-8, -0.658796896014047, 1.51048777984360) 97.3448956175846 -691.784993020599\n",
      "(1.45974706796457e-8, -0.661811959559748, 1.51077716428414) 95.3450356759007 -691.782090325609\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(1.31916727530100e-8, -0.664819764654805, 1.51104873513345) 93.3451677255923 -691.779188437719\n",
      "(1.17838004031673e-8, -0.667820264620863, 1.51130249323280) 91.3452917367889 -691.776287304531\n",
      "(1.03739064153677e-8, -0.670813412633723, 1.51153843935827) 89.3454076808765 -691.773386873507\n",
      "(8.96204333004861e-9, -0.673799161728527, 1.51175657422210) 87.3455155305022 -691.770487091971\n",
      "(7.54826343600384e-9, -0.676777464804929, 1.51195689847379) 85.3456152595788 -691.767587907113\n",
      "(6.13261876344518e-9, -0.679748274632250, 1.51213941270125) 83.3457068432894 -691.764689265993\n",
      "(4.71516107728008e-9, -0.682711543854612, 1.51230411743180) 81.3457902580915 -691.761791115540\n",
      "(3.29594187049812e-9, -0.685667224996061, 1.51245101313307) 79.3458654817207 -691.758893402564\n",
      "(1.87501235723204e-9, -0.688615270465662, 1.51258010021384) 77.3459324931949 -691.755996073751\n",
      "(4.52423465927343e-10, -0.691555632562579, 1.51269137902484) 75.3459912728183 -691.753099075671\n",
      "(-9.71774167162976e-10, -0.694488263481135, 1.51278484985935) 73.3460418021839 -691.750202354781\n",
      "(-2.39753020480887e-9, -0.697413115315842, 1.51286051295380) 71.3460840641778 -691.747305857430\n",
      "(-3.82479461541689e-9, -0.700330140066414, 1.51291836848829) 69.3461180429818 -691.744409529861\n",
      "(-5.25351767986064e-9, -0.703239289642750, 1.51295841658698) 67.3461437240762 -691.741513318214\n",
      "(-6.68364999809445e-9, -0.706140515869895, 1.51298065731841) 65.3461610942429 -691.738617168534\n"
     ]
    }
   ],
   "source": [
    "# l=back_left_joint[1::]\n",
    "for i in back_left_joint:\n",
    "    T=T4\n",
    "    T_eval=T.subs([(theta_1,i[0]),(theta_2,i[1]),(theta_3,i[2])])\n",
    "    x_tool.append(T_eval[3])\n",
    "    y_tool.append(T_eval[7])\n",
    "    z_tool.append(T_eval[11])\n",
    "    print(f\"{i} {T_eval[3]} {T_eval[11]}\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "plt.plot(x_tool,z_tool)\n",
    "# plt.scatter(0,0.725)\n",
    "plt.xlabel(\"y coordinate\")\n",
    "plt.ylabel(\"z coordinate\")\n",
    "plt.axis(\"equal\")\n",
    "plt.title(\"Trajectory of Robot\")\n",
    "plt.grid(True)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.9.0"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
